CN112703727B

CN112703727B - Tethered unmanned aerial vehicle system with monitoring data management

Info

Publication number: CN112703727B
Application number: CN201980058086.4A
Authority: CN
Inventors: M·比斯; J-M·库隆; M·布拉维耶
Original assignee: Rsq Systems Usa
Current assignee: Rsq Systems Usa
Priority date: 2018-07-26
Filing date: 2019-07-25
Publication date: 2023-11-03
Anticipated expiration: 2039-07-25
Also published as: US10435154B1; EP3827583A1; WO2020021337A1; CN112703727A

Abstract

In one embodiment, the present disclosure provides an event auditing method. The event auditing method comprises the following steps: receiving sensor data from a sensor of an unmanned aerial vehicle "UAV" at a base station; transmitting control signals to the UAV based on the sensor data; communicatively coupling the base station with an external evidence base; formatting a portion of the sensor data; and transmitting the formatted sensor data to the external evidence library. In some embodiments, the base station is mounted to an anchor vehicle. In some embodiments, the UAV is communicatively coupled with the base station via a tether. In some embodiments, the formatting the sensor data includes formatting a second portion of the sensor data to generate formatted sensor data based at least in part on an identity of the external evidence library.

Description

Tethered unmanned aerial vehicle system with monitoring data management

Cross reference to related applications

The present application claims priority to U.S. patent application Ser. No. 16/046,691, filed on 7/26, 2018, the entire contents of which are incorporated herein by reference.

Background

The present disclosure relates to tethered surveillance drone systems. More particularly, the present disclosure relates to systems and methods of event audit and data storage.

Disclosure of Invention

In one embodiment, the present disclosure provides an event auditing method. In some embodiments, the event auditing method includes: receiving sensor data from a sensor of an unmanned aerial vehicle ("UAV") at a base station; transmitting control signals to the UAV based on the sensor data; communicatively coupling the base station with an external evidence base; formatting a portion of the sensor data; and transmitting the formatted sensor data to the external evidence library. In some embodiments, the base station is mounted to an anchor vehicle. In some embodiments, the UAV is communicatively coupled with the base station via a tether. In some embodiments, transmitting the control signal to the UAV is based on a first portion of sensor data. In some embodiments, the formatting the sensor data includes formatting a second portion of the sensor data to generate formatted sensor data based at least in part on an identity of the external evidence library.

In some embodiments, the method further comprises: receiving a request to transition the UAV between a docked configuration and an airborne configuration; and transitioning the UAV between the docked configuration and the airborne configuration. In some embodiments, the request is received at the base station. In some embodiments, the request is received from a portable electronic device. In some embodiments, the base station is coupled to a controller of the anchor vehicle. In some embodiments, the request to transition the UAV includes data indicative of an operational state of the anchor vehicle. In some embodiments, the request includes a first portion of the sensor data.

In some embodiments, the formatting the sensor data includes encrypting a second portion of the sensor data. In some embodiments, the formatting includes selectively including metadata. In some embodiments, the formatting includes formatting the second sensor data to meet one or more evidence continuity criteria. In some embodiments, the first external evidence store comprises a remote server. In some embodiments, the communicatively coupling includes coupling via wireless communication.

In some embodiments, the base station is communicatively coupled to a mobile data terminal ("MDT") of the anchor vehicle. In some embodiments, the MDT is communicatively coupled to a remote server via wireless communication. In some embodiments, the second external evidence store includes a storage medium of the MDT. In some embodiments, the method further includes formatting the second portion of the sensor data to produce second formatted sensor data. In some embodiments, the method further includes transmitting the second formatted sensor data to the second external evidence library.

In some embodiments, the present disclosure provides one or more non-transitory computer-readable media having computer-executable instructions recorded thereon that are configured to cause a computer processor to perform various operations. In some embodiments, the operations include: receiving, at a base station, sensor data from at least one sensor of a UAV; transmitting control signals to the UAV based on the sensor data; communicatively coupling the base station with an external evidence base; formatting a portion of the sensor data; and transmitting the formatted sensor data to the external evidence library. In some embodiments, the base station is mounted to an anchor vehicle. In some embodiments, the UAV is communicatively coupled with the base station via a tether. In some embodiments, the transmitting the control signal to the UAV is based at least in part on a first portion of the sensor data. In some embodiments, the formatting the second portion of the sensor data is based at least in part on an identity of the external evidence library.

In some embodiments, the operations further include receiving a request to transition the UAV between a docked configuration and an airborne configuration. In some embodiments, the operations further include transitioning the UAV between the docked configuration and the airborne configuration. In some embodiments, the request is received at the base station. In some embodiments, the request is received from a portable electronic device. In some embodiments, the base station is coupled to a controller of the anchor vehicle. In some embodiments, the request includes data indicating an operational state of the anchor vehicle. In some embodiments, the request includes a first portion of sensor data.

In some embodiments, the formatting includes selectively including metadata. In some embodiments, the formatting includes encrypting the second portion of the sensor data. In some embodiments, the formatting meets one or more evidence continuity criteria. In some embodiments, the external evidence store comprises a remote server. In some embodiments, the communicatively coupling includes coupling via wireless communication. In some embodiments, the base station is communicatively coupled to an MDT. In some embodiments, the MDT is communicatively coupled to the remote server via wireless communication.

In some embodiments, the second external evidence store includes a storage medium of the MDT. In some embodiments, the operations further include formatting the second portion of the sensor data to produce second formatted sensor data. In some embodiments, the operations further include transmitting the second formatted sensor data to the second external evidence library.

In some embodiments, the present disclosure provides a system for event auditing. In some embodiments, the system includes a base station including a controller and a UAV. In some embodiments, the controller is communicatively coupled with an external evidence base. In some embodiments, the UAV is coupled to the base station via a tether. In some embodiments, the controller is configured to receive sensor data from at least one sensor of the UAV. In some embodiments, the controller is configured to transmit control signals to the UAV to control a propulsion system of the UAV. In some embodiments, the transmitting the control signal is based at least in part on the sensor data. In some embodiments, the control signal is based at least in part on the sensor data. In some embodiments, the controller is configured to format a portion of the sensor data to generate formatted sensor data. In some embodiments, the formatting the sensor data is based at least in part on an identity of the external evidence library. In some embodiments, the controller is further configured to transmit the formatted sensor data to the external evidence library.

In another embodiment, the present disclosure provides a { text } method.

Other aspects of the disclosure will become apparent by consideration of the detailed description and accompanying drawings.

Drawings

FIG. 1 illustrates an event auditing system according to some embodiments.

FIG. 2 is a block diagram of an event auditing system, according to some embodiments.

FIG. 3 is a block diagram of an event auditing system, according to some embodiments.

Fig. 4 is a block diagram of an event auditing system in a broader ecosystem, according to some embodiments.

Fig. 5 is a flow chart of an event auditing method according to some embodiments.

Fig. 6 is a flow chart of an event auditing method according to some embodiments.

Fig. 7 is a flow chart of an event auditing method according to some embodiments.

Detailed Description

Before any embodiments of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways.

Fig. 1 illustrates an event auditing system 100 according to some embodiments. The event auditing system 100 includes a base station 105, an unmanned aerial vehicle ("UAV") 110, and a tether 115 that extends between the base station 105 and the UAV 110. The base station 105 is mounted on the anchor vehicle 120 and may be integrated into a light bar, as shown. In the illustrated embodiment, the anchor vehicle 120 is a patrol car, but may be any other vehicle, such as an ambulance, fire truck, motorcycle, watercraft, or other emergency vehicle. The UAV includes a propulsion system that holds the UAV 110 in the air, as well as one or more cameras and sensors. The tether 115 is configured to secure the UAV 110 to the base station 105, and also to transfer power from the base station 110 to the UAV 110, such as for a propulsion system. The tether 115 is also configured to transmit data signals between the base station 105 and the UAV 110, for example, to cause the base station 105 to control a propulsion system or camera, or to receive data from a camera or sensor. Thus, deployment, flight, and recovery of the UAV 110 may be controlled by the base station 105. For example, the base station 105 may deploy the UAV 110 to monitor the area around the anchor vehicle 120, such as with a camera or sensor. Alternatively, the UAV 110 may maintain its own autonomous control while receiving power from the base station 105. In some embodiments, flight control and/or sensor control is cooperatively handled by the base station 105 and the UAV 110. When not flying, the UAV 110 is configured to interface with the base station 105. The base station 105 includes a housing and cover system that holds the UAV 110 when the UAV 110 is docked with the base station 105. For example, the housing may include a cover that protects the UAV 110 from tampering or bad weather.

Fig. 2 illustrates a block diagram of an event auditing system 200, according to some embodiments. The event auditing system 200 includes a base station 205, a UAV 210, and a tether 215 between the UAV 210 and the base station 205. The UAV 210 includes a UAV housing 220, such as a lightweight aluminum, fiberglass, polymer, or carbon fiber casing. The UAV 210 further includes a propulsion system 225, a UAV controller 230, a sensor array 235, and a power/data interface 240 coupled to the UAV housing 220. The propulsion system 225, UAV controller 230, and sensor array 235 are electronically coupled to the power/data interface 240 via an electronic link 245. The controller is electronically coupled to propulsion system 225 and sensor array 235 via electronic link 245. Thus, power and/or data may be supplied directly from the power/data interface 240 to one or more of the propulsion system 225, the sensor array 235, and the controller, or may be mediated by the UAV controller 230. For example, power supplied via ethernet ("POE") can be received at the power/data interface 240 and supplied to the UAV controller 230. In some embodiments, UAV controller 230, which may include various electronic memories, processors, embedded circuitry, and the like, receives POE, separates supplied power from transmitted data, adapts supplied power based on voltage or current required by propulsion system 225 and sensor array 235, and provides power and data to propulsion system 225 and sensor array 235.

In some embodiments, UAV controller 230 receives sensor data from one or more sensors of sensor array 235 and communicates the sensor data to power/data interface 240. In other embodiments, sensor array 235 communicates sensor data directly from one or more sensors to power/data interface 240. In other embodiments, sensor data from the first plurality of sensors may be transmitted from the sensor array 235 to the UAV controller 230, and sensor data from the second plurality of sensors transmitted from the sensor array 235 to the power/data interface 240. For example, where sensor array 235 includes an accelerometer and one or more cameras, accelerometer data may be communicated to UAV controller 230 while image data from the one or more cameras is communicated to power/data interface 240. As another example, image data may be communicated to both the UAV controller 230 and the power/data interface 240. Thus, the computational requirements of the system may be distributed or scaled between the UAV controller 230 and other controllers of the system 200 as desired.

In some embodiments, the sensor array 235 includes a plurality of cameras disposed circumferentially around the underside of the UAV housing 220. In some embodiments, sensor array 235 includes cameras configured differently for different ambient light conditions, distances, resolutions, frame rates, fields of view, and the like. In some embodiments, sensor array 235 further includes at least one sensor configured to detect a relative orientation between UAV 210 and base station 205. In some embodiments, the relative orientation may be sensed with one or more magnetometers, accelerometers, GPS sensors, and the like. In other embodiments, the relative orientation may be sensed with one or more cameras. For example, various image and video analysis techniques may be applied to image data from multiple cameras to sense or determine the relative orientation between the UAV 210 and the base station 205. Further, in some embodiments, one or more of the cameras may be controlled based on the relative orientation of the UAV 210 or the relative orientation between the UAV 210 and the base station 205.

Propulsion system 225 includes one or more thrust-producing devices, such as various propellers, fans, jets, rockets, thrusters, and the like. Propulsion system 225 receives power and control signals from power/data interface 240, UAV controller 230, or a combination thereof to control the thrust vectors of the respective thrust producing devices. Thus, the propulsion system 225 is thus configured to provide continuous or indefinite flight to the UAV 210, e.g., static or dynamic flight as desired. In some embodiments, propulsion system 225 is controlled based on the relative orientation between UAV 210 and base station 205. For example, the propulsion system 225 may be controlled to maintain a static position of the UAV 210 relative to the base station 205 or to follow one or more paths relative to the base station 205.

In addition to the electronic link 245, the power/data interface 240 is also communicatively coupled to the base station 205 via the tether 215. In the illustrated embodiment, the tether 215 includes a wired connection 215A configured to transmit POE between the base station 205 and the UAV 210. In some embodiments, tether 215 may include discrete wired power and data connections. In some embodiments, tether 215 includes a protective sheath 215B. In some embodiments, sheath 215 is sheathed with a thermoplastic sheath, such as polyvinyl chloride (PVC). Alternatively or in addition, the protective sheath 215B flexibly and mechanically couples the UAV housing 220 to the base station housing. Thus, various stresses on the sheath 215 are distributed through the protective sheath 215B, rather than being transferred to the wired connection 215A. In some embodiments, tether 215 is directly connected to base station housing 250. In other embodiments, tether 215 is coupled to spool 265, spool 265 is coupled to base station housing 250.

The base station housing 250 is configured to be mounted to an anchor vehicle (e.g., vehicle 120 of fig. 1) and is made of a resilient material, such as aluminum, fiberglass, polymer, or carbon fiber casing. The base station housing 250 further includes a power/data interface 255, a motor 260 coupled to the spool 265, a cover system 270, and a base station controller 275 coupled to the power/data interface 255 and the motor 260. The base station controller 275 is further coupled to a power supply 280, a network interface 285, and a cover system 270. The power/data interface 255 is substantially similar to the power/data interface 240 of the UAV 210 and is coupled to the wired connection 215A of the tether 215. In the illustrated embodiment, the power/data interface 255 is coupled to the wired connection 215A at a spool 265. Thus, power and data (e.g., POE) may be transferred between the power/data interface 255 of the base station 205 to the power/data interface 240 of the UAV 210 via the tether 215. Spool 265 is further coupled to motor 260 and is thereby configured for adjustment of tether 215. Thus, the tether 215 may be extended or retracted as desired. Additionally, the motor 260 and spool 265 may be configured to apply a force to the protective sheath 215B of the tether 215. For example, the motor 260 and spool 265 may be configured to electronically brake or retract the damaged UAV 210 in high winds. Thus, deployment, flight, and recovery of UAV 210 is improved. Although spool 265, motor 260, and electronic brake are described and illustrated, any suitable tensioning or tether adjustment mechanism may be used as desired.

The base station controller 275 is coupled to the various components of the base station 205 via an electronic link 290. The controller receives power from the power supply 280. In the illustrated embodiment, the power supply 280 is coupled to the electrical system of the vehicle to which the base station 205 is mounted, and also adapts the power received from the vehicle based on the voltage/current requirements of one or more components of the base station 205 and/or the UAV 210. In some embodiments, the power supply 280 further includes one or more energy storage devices, such as lithium ion batteries.

The lid system 270 receives power from a power supply 280 and is configured to open and close a lid of a housing, such as a lid or a sectional door. When the UAV 210 interfaces with the base station 205, the cover is configured to enclose the base station 205, tether 215, and UAV 210. When the UAV 210 is in the over-the-air configuration, the cover is configured to minimize interference with movement of the UAV 210 or tether 215. In some embodiments, the lid system 270 includes one or more motors, resilient members, latches, or other devices configured to open, close, or maintain the lid in an open or closed position. Actuation of the cover system 270 is controlled by the base station controller 275. Thus, the UAV 210 is securely held within the base station housing 250, for example, while the anchor vehicle is in motion.

The base station controller 275 includes various electronic processors and memory storing program instructions executable by the processors to perform the functionality described herein. The base station controller 275 is further coupled to a network interface 285. The network interface 285 is configured for wired and wireless electronic communication. For example, the network interface 285 may include one or more antennas and may be configured to communicate over one or more wireless networks using protocols such as Wi-Fi, bluetooth, WLAN, CDMA, etc. In some embodiments, the network interface 285 is communicatively coupled with an external data source. For example, the network interface 285 may be coupled with a mobile data terminal ("MDT") in the anchor vehicle via a wired connection, or may be coupled to a remote server via a mobile broadband network. In some embodiments, the network interface 285 connects to the server via a virtual private network ("VPN") client that conforms to one or more encryption standards associated with maintaining evidence continuity. For example, a VPN client can conform to federal information processing standard ("FIPS") publication 140-2, (FIPS PUB 140-2). Thus, the base station controller 275 may securely communicate with both the UAV 210 and an external data source using the tether 215 and the network interface 285, respectively.

The base station controller 275 is configured to control the UAV 210, for example, in conjunction with the UAV controller 230, or independently. For example, the base station controller 275 may be configured to control one of the propulsion system 225 and the sensor array 235, while the UAV controller 230 controls the other of the propulsion system 225 and the sensor array 235. Base station controller 275 is configured to receive sensor data from sensor array 235. In some embodiments, the base station controller 275 is configured to transmit the sensor data to an external data source in real time. For example, the base station controller 345 can be communicatively coupled with a dedicated emergency channel of a first responder, such as a first responder network authorizer FirstNet, and transmit sensor data to the FirstNet in real-time. In some embodiments, the base station controller 275 is configured to store the sensor data in one or more electronic memories of the base station controller 275. In further embodiments, the base station controller 275 is configured to transmit the first portion of the sensor data in real time while storing the second portion in one or more electronic memories of the base station controller 275. Thus, the base station controller 275 may be configured to record redundancy (e.g., when the first and second portions comprise substantially similar sensor data) or reduce broadband requirements (e.g., when the first portion of sensor data is smaller than the second portion of sensor data).

The base station controller 275 is further configured to receive data from external data sources. In some embodiments, the base station controller 275 is configured to control the UAV 210 based at least in part on data from an external data source. For example, the base station controller 275 may transition the UAV 210 from the docked configuration to the over-the-air configuration in response to receiving an event notification signal (e.g., an operational state of the anchor vehicle) or a request from a portable electronic device associated with a user of the anchor vehicle. The operating state may include any of a variety of operating states of the anchor vehicle, such as an operating state of the drive train (e.g., park, neutral, drive, etc.), an operating state of the electrical system (e.g., off, driven, or driven), or any other operating state of the anchor vehicle. For example, the base station controller 275 may be configured to transition the UAV 210 between the docked configuration and the airborne configuration in response to the anchor vehicle operating state changing from "running" to "park". As an additional example, the base station controller 275 may be configured to transition the UAV 210 between over-the-air configurations in response to the anchor vehicle operating state changing from "driven" to "off. Further, the operating state of the vehicle may include activation or deactivation of various steering and traction assist systems, such as in response to positive braking, turning, or loss of traction. In some embodiments, the base station controller 275 is configured to control the UAV 210 based at least in part on sensor data received from the sensor array 235. For example, base station controller 275 may transition UAV 210 from an over-the-air configuration to a docked configuration based on data from one or more sensors of sensor array 235 indicative of adverse environmental conditions.

Fig. 3 illustrates a particular embodiment of an event auditing system 300, also referred to as a monitoring system. The event auditing system 300 includes a base station or monitoring platform 302, a remote sensor platform or UAV 304, and a tether 306 between the UAV 304 and the base station 302. UAV 304 includes a UAV housing 308, such as a lightweight aluminum, fiberglass, polymer, or carbon fiber housing. UAV 304 further includes a propulsion system 310, a UAV controller 312, an input/output ("I/O") interface 314, and a power/data interface 316 coupled to UAV housing 308. Propulsion system 310, UAV controller 312, and I/O interface 314 are electronically coupled to power/data interface 316 via electronic link 318. In addition, the UAV controller 312 is electronically coupled to the propulsion system 310 and the I/O interface 314 via an electronic link 318. Thus, power and/or data may be supplied directly from the power/data interface 316 to one or more of the propulsion system 310, the I/O interface 314, and the UAV controller 312, or may be mediated by the UAV controller 312. For example, power supplied via ethernet ("POE") can be received at the power/data interface 316 and supplied to the UAV controller 312. In some embodiments, UAV controller 312, including one or more electronic memories 320, and one or more processors or embedded circuitry 322, and the like, receives POE, separates supplied power from transmitted data, adapts supplied power based on voltage or current required by propulsion system 310 and I/O interface 314, and provides power and data to propulsion system 310 and I/O interface 314.

In some embodiments, the UAV controller 312 receives sensor data from one or more sensors 324 or cameras 326 of the I/O interface 314 and communicates the sensor data to the power/data interface 316. In other embodiments, the I/O interface 314 communicates sensor data directly from the one or more sensors 324 or cameras 326 to the power/data interface 316. In other embodiments, sensor data from the first plurality of sensors 324 and cameras 326 may be transferred from the I/O interface 314 to the UAV controller 312, and sensor data from the second plurality of sensors 324 and cameras 326 transferred from the I/O interface 314 to the power/data interface 316. For example, where the I/O interface 314 includes an accelerometer and one or more cameras, accelerometer data may be communicated to the UAV controller 312 while image data from the one or more cameras is communicated to the power/data interface 316. As another example, image data may be communicated to both the UAV controller 312 and the power/data interface 316. Thus, the computational requirements of the system may be distributed or scaled between the processor or embedded circuitry 322 of the UAV controller 312 and other controllers of the system as desired.

In some embodiments, the I/O interface 314 includes a plurality of cameras 326 disposed circumferentially around the underside of the UAV housing 308. In some embodiments, the I/O interface 314 includes cameras configured differently for different ambient light conditions, distances, resolutions, frame rates, fields of view, and the like. In some embodiments, the I/O interface 314 further includes at least one sensor 324 configured to detect a relative orientation between the UAV and the base station 302. In some embodiments, the relative orientation may be sensed with one or more magnetometers, accelerometers, GPS sensors, and the like. In other embodiments, the relative orientation may be sensed with one or more cameras 326. For example, various image and video analysis techniques may be applied to image data from multiple cameras 326 to sense or determine the relative orientation between UAV 304 and base station 302. Further, in some embodiments, one or more of the cameras 326 may be controlled based on the relative orientation of the UAV 304 or the relative orientation between the UAV 304 and the base station 302.

Further, in some embodiments, at least one camera 326 is controlled to track objects or people. Similarly, UAV 304 may be controlled to track an object or person. Thus, evidence collection, storage, and transmission may be improved.

In some embodiments, the I/O interface 314 includes one or more visual indicators 336. In some embodiments, the visual indicator 336 may be a visible LED, an infrared LED, or an ultraviolet LED. In some embodiments, the visual indicator 336 is configured to receive control signals from the UAV controller 312, the power/data interface 316, or a combination thereof. The visual indicator 336 is configured to indicate one or more states of a UAV, a base station, an anchor vehicle, or a combination thereof. In some embodiments, the visual indicator 336 is further configured to provide illumination, such as an object in the field of view of one of the cameras 326 or an area around the anchor vehicle and base station.

In some embodiments, the I/O interface 314 includes one or more of an ultrasonic sensor, a temperature sensor, an airspeed sensor, an air pressure sensor, and an orientation sensor 324. In further embodiments, propulsion system 310 is controlled based at least in part on data signals received from I/O interface 314. For example, UAV 304 may transition between an over-the-air configuration to a docked configuration in response to detecting adverse environmental conditions with one or more sensors 324.

Propulsion system 310 includes at least one propeller 328 and a motor control unit ("MCU") 330. The MCU330 includes at least one motor 332 and associated power conversion circuitry 334, for example, to convert, invert, or rectify received power. MCU330 receives power and control signals from power/data interface 316, UAV controller 312, or a combination thereof. The MCU330 receives power and control signals at power conversion circuitry 334 and provides power to the motor 332 to control the thrust vector of the propeller 328. Thus, propulsion system 310 is thus configured to provide continuous or indefinite flight to UAV304, e.g., static or dynamic flight as desired. In some embodiments, propulsion system 310 is controlled based on the relative orientation between UAV304 and base station 302. For example, propulsion system 310 may be controlled to maintain a static position of UAV304 relative to base station 302 or to follow one or more paths relative to base station 302.

In addition to the electronic link 318, the power/data interface 316 is also communicatively coupled to the base station 302 via the tether 306. In the illustrated embodiment, the tether 306 includes a wired connection 306A configured to transmit POE between the base station 302 and the UAV 304. In some embodiments, the tether 306 may include a discrete wired power and data connection 306A. In some embodiments, tether 306 comprises a protective sheath 306B. In some embodiments, sheath 306 is sheathed with a thermoplastic sheath, such as polyvinyl chloride (PVC). Alternatively or in addition, the protective sheath 306B flexibly and mechanically couples the UAV housing 308 to the vehicle base housing 338, such as between the UAV housing 308 and a pair of corresponding coupling mechanisms on the vehicle base housing 338. Thus, the various stresses on sheath 306 are distributed through protective sheath 306B, rather than being transferred to wired connection 306A. In some embodiments, the tether 306 is axially aligned with the center of mass of the UAV 304. For example, where the UAV304 is rotationally symmetric, the tether 306 may be configured to attach to the bottom of the UAV304 along a central axis. Accordingly, the torque generated by the propeller 328 about the attachment point of the tether 306 may be reduced. In some embodiments, the tether 306 is directly connected to the vehicle base housing 338. In other embodiments, the tether 306 is coupled to a spool 340, the spool 340 being coupled to the vehicle base housing 338.

The vehicle base housing 338 is configured to be mounted to an anchor vehicle (e.g., the anchor vehicle 120 of fig. 1) and is made of a resilient material, such as aluminum, fiberglass, polymer, or carbon fiber shell. The vehicle base housing 338 further includes a power/data interface 342, an MCU 348 coupled to the spool 340, a lid system 344, and a base station controller 346 coupled to the power/data interface 342 and the MCU 348. The base station controller 346 is further coupled to DC/DC circuitry 350, a network interface 352, and a cover system 344. The power/data interface 342 is substantially similar to the power/data interface 316 of the UAV 304 and is coupled to the wired connection 306A of the tether 306. In the illustrated embodiment, the power/data interface 342 is coupled to the wired connection 306A at the spool 340. Thus, power and data (e.g., POE) may be transferred between the power/data interface 342 of the base station 302 to the power/data interface 316 of the UAV 304 via the tether 306. The spool 340 is further coupled to the MCU 348 and thereby configured for adjustment of the tether 306.

MCU 348 includes a motor 354, associated power conversion circuitry 356, and a tensioning device 358, such as an electronic brake. Thus, the MCU 348 controls the motor 354 to extend or retract the tether 306 as desired. In addition, the MCU 348 is configured to control the motor 354 and the tensioning device 358 to apply forces to the protective sheath of the tether 306. For example, MCU 348 and spool 340 may be configured to electronically brake or retract damaged UAV 304 in high winds. Thus, deployment, flight, and recovery of UAV 304 is improved. Although a spool, motor, and electric brake are described and illustrated, any suitable tensioning or tether adjustment mechanism may be used as desired.

Base station controller 346 is coupled to the various components of base station 302 via electronic link 360. The controller receives power from the DC/DC circuitry 350. In the illustrated embodiment, the DC/DC circuitry 350 is coupled to the electrical system of the anchor vehicle to which the base station 302 is mounted, and also adapts the power received from the anchor vehicle based on the voltage/current requirements of one or more components of the base station 302 and/or UAV 304. In some embodiments, the DC/DC circuitry 350 further includes one or more energy storage devices, such as lithium ion batteries.

The lid system 344 receives power from the DC/DC circuitry 350 and is configured to open and close a lid 362 of the housing, such as a lid or a sectional door. The lid system 344 includes a lid actuator 364 configured to open and/or close the housing lid 362. When UAV 304 interfaces with base station 302, housing cover 362 is configured to enclose base station 302, tether 306, and UAV 304. When the UAV 304 is in an airborne configuration, the housing cover 362 is configured to minimize interference with movement of the UAV 304 or tether 306. In some embodiments, the lid actuator 364 includes one or more motors, resilient members, latches, or other devices configured to open, close, or maintain the lid in an open or closed position. Actuation of the cover system 344 is controlled by a base station controller 346. Thus, UAV 304 is securely held within vehicle base housing 338, for example, while the anchor vehicle is in motion.

The base station controller 346 includes at least one electronic processor 366 and at least one electronic memory 368 configured to store program instructions executable by the processor 366 to perform the functionality described herein. The base station controller 346 is further coupled to a network interface 352. The network interface 352 is configured for wired and wireless electronic communications. For example, the network interface 352 may include one or more antennas and may be configured to communicate over one or more wireless networks using protocols such as Wi-Fi, bluetooth, WLAN, CDMA, etc. In some embodiments, the network interface 352 is communicatively coupled with an external data source. For example, the network interface 352 may be coupled with a mobile data terminal ("MDT") in the anchor vehicle via a wired connection, or may be coupled to a remote server via a mobile broadband network. In some embodiments, the network interface 352 connects to the server via a virtual private network ("VPN") client that conforms to one or more encryption standards related to maintaining evidence continuity. For example, a VPN client may conform to federal information processing standard ("FIPS") publication-2, (FIPS PUB-2). Accordingly, the base station controller 346 may securely communicate with the UAV 304 and external data sources using the tether 306 and the network interface 352, respectively.

The base station controller 346 is configured to control the UAV 304, for example, in conjunction with the UAV controller 312, or independently. For example, the base station controller 346 may be configured to control one of the propulsion system 310 and the I/O interface 314, while the UAV controller 312 controls the other of the propulsion system 310 and the I/O interface 314. The base station controller 346 is configured to receive sensor data from the I/O interface 314. In some embodiments, the base station controller 346 is configured to transmit the sensor data to an external data source in real time. In some embodiments, the base station controller 346 is configured to store the sensor data in one or more electronic memories 368 of the base station controller 346 and/or the electronic memory 320 of the UAV. In further embodiments, the base station controller 346 is configured to transmit the first portion of the sensor data in real-time while storing the second portion in the one or more electronic memories 368. Thus, the base station controller 346 may be configured to record redundancy (e.g., when the first and second portions comprise substantially similar sensor data) or reduce broadband requirements (e.g., when the first portion of sensor data is smaller than the second portion of sensor data).

In some embodiments, the base station controller 346 is configured to transmit the sensor data in response to detecting a predetermined wireless signal. In some embodiments, the predetermined wireless signal may be detected from the portable electronic device or from a secure synchronization point, such as a wireless network of a police or fire station. Thus, the predetermined wireless signal may be detected by the network interface 352. The base station controller 346 then transmits the sensor data, for example, to a remote evidence base or other external data source for secure storage.

The base station controller 346 is further configured to receive data from external data sources. In some embodiments, base station controller 346 is configured to control UAV304 based at least in part on data from an external data source. For example, the base station controller 346 may transition the UAV304 from the docked configuration to the over-the-air configuration in response to receiving an event notification signal (e.g., an operational state of the anchor vehicle) or a request from an electronic device, such as a button within or on the base station, or a portable electronic device associated with a user of the vehicle. For example, in some embodiments, UAV 210 transitions from the docked configuration to the over-the-air configuration in response to receiving an event notification signal indicating that a weapon in the vicinity of UAV 210 (e.g., a user's pistol associated with the anchor vehicle) has been removed from the smart pistol holster. Further, in some embodiments, the position and/or flight mode of the UAV 210 may be controlled from an electronic device, such as a joystick or touch screen within the anchor vehicle, or a portable electronic device associated with a user of the anchor vehicle.

The operational state may include any of a variety of operational states of the anchor vehicle, such as an operational state of the drive train (e.g., park, neutral, drive, etc.), an operational state of the electrical system (e.g., off, driven, or driven), or any other operational state of the anchor vehicle. For example, the base station controller 346 may be configured to transition the UAV304 between the docked configuration and the airborne configuration in response to the anchor vehicle operating state changing from "running" to "park". As an additional example, the base station controller 346 may be configured to transition the UAV304 between over-the-air configurations in response to the anchor vehicle operating state changing from "driven" to "off. For example, a user of the anchor vehicle may request, such as with a portable electronic device, that the UAV304 transition between a docked position and an airborne position. Alternatively or additionally, data from an external data source may be used to control the flight mode or relative orientation of UAV304. In some embodiments, the base station controller 346 is configured to control the UAV304 based at least in part on sensor data received from the I/O interface 314. For example, the base station controller 346 may transition the UAV304 from the over-the-air configuration to the docked configuration based on data from one or more sensors of the I/O interface 314 that is indicative of adverse environmental conditions.

Fig. 4 illustrates an event auditing system in a law enforcement ecosystem 400, according to some embodiments. The larger ecosystem 400 includes law enforcement agencies 405, patrol vehicles 410, and hosting platforms 415 that communicate via a network 420. Network 420 includes various wireless and wired communication systems, such as the internet, configured for secure communications between institution 405, patrol vehicle 410, and hosting platform 415. The vehicle 410 includes an MDT 425, such as a laptop computer, router, and associated electronics, configured to communicate with the facility 405 via a network 420.

The anchor vehicle 410 includes various sensors 430 associated with the anchor vehicle, such as one or more vehicle recorders, law enforcement recorders, or other imaging devices 430. An event auditing system 435 (e.g., substantially similar to system 100, 200, or 300) is installed on the anchor vehicle 410. A portable electronic device 440, such as a police handset, is also associated with the anchor vehicle 410. Thus, each of the MDT 425, auditing system 435, and portable electronic device 440 may be configured to communicate individually or in combination via a network. For example, audit system 435 may be configured to connect to network 420 via MDT 425.

Law enforcement agency 405 includes a local server 445 coupled to network 420, including various processors and electronic memory devices. Hosting platform 415 includes a remote server 450 coupled to network 420 that includes various processors and electronic memory devices.

MDT 425 is generally configured to receive image data captured by anchor vehicle sensor 430. In some embodiments, MDT 425 is configured to transmit image data in real-time, e.g., to institution 405 and/or hosting platform 415 via network 420. In some embodiments, the MDT 425 includes one or more electronic storage devices. In some embodiments, the MDT 425 is configured to store image data in an electronic storage device. In some embodiments, audit system 435 is configured to capture sensor data, such as image data, from one or more sensors of audit system 435. In some embodiments, audit system 435 is configured to store sensor data in electronic storage of audit system 435. In some embodiments, the auditing system 435 is configured to transmit sensor data to an external evidence store, such as the electronic storage of the MDT 425, the local server 445 of the institution 405, and/or the remote server 450 hosting the platform 415.

In some embodiments, audit system 435 is configured to combine sensor data from multiple sensors prior to transmission. For example, the auditing system 435 may be configured to combine image data from multiple cameras into a panoramic or immersive live view data stream prior to transmission. In other embodiments, the auditing system 435 is configured to maintain sensor data in a discrete stream. For example, audit system 435 may receive multiple streams of image data from multiple cameras and then would transmit each respective stream individually or independently. Thus, forgery evidence or image data can be prevented. In some embodiments, one or more of the auditing system 435 and MDT 425 are configured to format at least a portion of sensor data from one or more of the anchor vehicle sensors 430 and auditing system 435, such as prior to storage and/or transmission over the network 420. In some embodiments, formatting the data includes encrypting the data. In some embodiments, the respective data streams may be individually encrypted. In some embodiments, formatting includes formatting the sensor data to meet one or more evidence continuity standards or monitoring chains (e.g., international criminal police organization, global standard 4.12 for defeating spoilage behavior in police forces). In some embodiments, formatting includes formatting based on the identity of an external evidence library, such as local server 445 or remote server 450. Because different hardware and software systems have different configurations, the sensor data may be formatted for proper receipt by the target system.

Fig. 5 is a flow diagram of an event auditing method 500, according to some embodiments. At block 510, sensor data is received from at least one sensor of an unmanned aerial vehicle ("UAV") at a base station mounted to an anchor vehicle. In some embodiments, the UAV is communicatively coupled with the base station via a tether. The sensor data may include various sensor data from ultrasonic sensors, temperature sensors, airspeed sensors, barometric pressure sensors, orientation sensors, accelerometers, or any other suitable sensor. In some embodiments, the sensor data includes a plurality of image data streams from a respective plurality of cameras. At block 520, control signals are transmitted to the UAV. In some embodiments, the control signal is transmitted from a base station. In some embodiments, the transmission of the control signal is based at least in part on the first portion of the sensor data. For example, during periods in which the UAV is in an airborne configuration, control signals may be based on airspeed, orientation, and acceleration data transmissions, with data from temperature sensors simply being recorded. At block 530, the base station is communicatively coupled with a first external evidence store. For example, the base station may be coupled with a remote server hosting the platform via one or more of wireless communication and wired communication.

At block 540, the second portion of the sensor data is formatted to produce first formatted sensor data. For example, orientation data, acceleration data, temperature data, and image data may be formatted to produce formatted sensor data. Thus, the first portion of sensor data and the second portion of sensor data need not be mutually exclusive data portions, but typically include data from one or more sensors. In some embodiments, the second portion of the sensor data is formatted based at least in part on an identity of the first external evidence store. For example, different computer systems and servers may be configured to receive data having one particular format or multiple particular formats. Thus, it may be advantageous to format the second data based at least in part on the identity of the external evidence store. For example, the formatting may include encrypting a second portion of the sensor data.

In some embodiments, sensor data from respective sensors is encrypted in respective data streams. For example, multiple image data streams from respective multiple cameras may each be individually encrypted. In some embodiments, formatting includes selectively including metadata. For example, a portion of the sensor data may be used as metadata. For example, a time stamp or location of the UAV may be included with the sensor data. As another example, metadata included with the sensor data may also be encrypted. In some embodiments, the formatting includes formatting the second sensor data to meet one or more evidence continuity criteria. Standards are established by various national and international organizations that are considered acceptable in a court of law based on their evidence. In some embodiments, these criteria include criteria specifying capturing, storing, transporting, encrypting, auditing, and modifying data. Thus, formatting may include formatting the second sensor data to meet one or more of these criteria. Furthermore, encryption of the sensor data and formatting of the sensor data may be performed in any order as desired. For example, the sensor data may be first encrypted and then formatted based at least in part on the identity of the external evidence library. Alternatively, the sensor data may be formatted based at least in part on the identity of the external evidence store and then encrypted. In further embodiments, encryption and formatting may occur substantially simultaneously.

At block 550, the first formatted sensor data is transmitted to a first external evidence store. For example, the base station may transmit the first formatted sensor data to a first external evidence base in real-time. Alternatively, the base station may first store the sensor data (raw or formatted sensor data) in a storage device, such as a memory of the base station, and then later transmit the formatted sensor data to the first external evidence library. For example, the base station may store the sensor data while the anchor vehicle is patrol, and then transmit the formatted sensor data after a secure synchronization point (a police or fire wireless network) is detected.

Fig. 6 is a flow chart of an event auditing method 600 according to some embodiments. At block 610, sensor data is received from at least one sensor of an unmanned aerial vehicle ("UAV") at a base station mounted to an anchor vehicle. In some embodiments, the UAV is communicatively coupled with the base station via a tether. The sensor data may include various sensor data from ultrasonic sensors, temperature sensors, airspeed sensors, barometric pressure sensors, orientation sensors, accelerometers, or any other suitable sensor. In some embodiments, the sensor data includes a plurality of image data streams from a respective plurality of cameras. At block 620, control signals are transmitted to the UAV. In some embodiments, the control signal is transmitted from a base station. In some embodiments, the transmission of the control signal is based at least in part on the first portion of the sensor data. For example, during periods in which the UAV is in an airborne configuration, control signals may be based on airspeed, orientation, and acceleration data transmissions, with data from temperature sensors simply being recorded. At block 630, the base station is communicatively coupled with a first external evidence store. For example, the base station may be coupled with a remote server hosting the platform via one or more of wireless communication and wired communication.

At block 640, the second portion of the sensor data is formatted to produce first formatted sensor data. For example, orientation data, acceleration data, temperature data, and image data may be formatted to produce formatted sensor data. Thus, the first portion of sensor data and the second portion of sensor data need not be mutually exclusive data portions, but typically include data from one or more sensors. In some embodiments, the second portion of the sensor data is formatted based at least in part on an identity of the first external evidence store. For example, different computer systems and servers may be configured to receive data having one particular format or multiple particular formats. Thus, it may be advantageous to format the second data based at least in part on the identity of the external evidence store. For example, the formatting may include encrypting a second portion of the sensor data.

At block 650, the first formatted sensor data is transmitted to a first external evidence store. For example, the base station may transmit the first formatted sensor data to a first external evidence base in real-time. Alternatively, the base station may first store the sensor data (raw or formatted sensor data) in a storage device, such as a memory of the base station, and then later transmit the formatted sensor data to the first external evidence library. For example, the base station may store the sensor data while the anchor vehicle is patrol, and then transmit the formatted sensor data after a secure synchronization point (a police or fire wireless network) is detected.

At block 660, a request to transition the UAV between the docked configuration and the over-the-air configuration is received at the base station. The request to transition the UAV may be received at any time. In some embodiments, the request to make the transition is received from a portable electronic device. For example, police associated with an anchor vehicle may transmit a request from a smart phone. In some embodiments, in which the base station is coupled to the electrical system of the anchor vehicle, the request may include data indicative of an operational state of the anchor vehicle. For example, data indicating that the anchor vehicle has been placed in "park" may be received as a request to transition the UAV. At block 670, control signals are transmitted that transition the UAV between the docked configuration and the over-the-air configuration. For example, the control signal may be a control signal that transitions the UAV from a docked configuration to an airborne configuration. Alternatively, the control signals may be control signals that transition the UAV from an over-the-air configuration and a docked configuration.

Fig. 7 is a flow chart of an event auditing method 700 according to some embodiments. At block 710, sensor data is received from at least one sensor of an unmanned aerial vehicle ("UAV") at a base station mounted to an anchor vehicle. In some embodiments, the UAV is communicatively coupled with the base station via a tether. The sensor data may include various sensor data from ultrasonic sensors, temperature sensors, airspeed sensors, barometric pressure sensors, orientation sensors, accelerometers, or any other suitable sensor. In some embodiments, the sensor data includes a plurality of image data streams from a respective plurality of cameras. At block 720, control signals are transmitted to the UAV. In some embodiments, the control signal is transmitted from a base station. In some embodiments, the transmission of the control signal is based at least in part on the first portion of the sensor data. For example, during periods in which the UAV is in an airborne configuration, control signals may be based on airspeed, orientation, and acceleration data transmissions, with data from temperature sensors simply being recorded. At block 730, the base station is communicatively coupled with a first external evidence store. For example, the base station may be coupled with a remote server hosting the platform via one or more of wireless and wired communications.

At block 740, a second portion of the sensor data is formatted to produce first formatted sensor data. For example, orientation data, acceleration data, temperature data, and image data may be formatted to produce formatted sensor data. Thus, the first portion of sensor data and the second portion of sensor data need not be mutually exclusive data portions, but typically include data from one or more sensors. In some embodiments, the second portion of the sensor data is formatted based at least in part on an identity of the first external evidence store. For example, different computer systems and servers may be configured to receive data having one particular format or multiple particular formats. Thus, it may be advantageous to format the second data based at least in part on the identity of the external evidence store. For example, the formatting may include encrypting a second portion of the sensor data.

At block 750, the first formatted sensor data is transmitted to a first external evidence store. For example, the base station may transmit the first formatted sensor data to a first external evidence base in real-time. Alternatively, the base station may first store the sensor data (raw or formatted sensor data) in a storage device, such as a memory of the base station, and then later transmit the formatted sensor data to the first external evidence library. For example, the base station may store the sensor data while the anchor vehicle is patrol, and then transmit the formatted sensor data after a secure synchronization point (a police or fire wireless network) is detected.

At block 760, a second portion of the sensor data is formatted to produce second formatted sensor data. For example, the base station may be communicatively coupled to a mobile data terminal ("MDT") of the anchor vehicle via wired or wireless communication. In some embodiments, the MDT includes one or more storage devices. Thus, the second portion of the sensor data may be formatted for storage on the MDT. At block 770, the second formatted sensor data is transmitted to a second external evidence store. For example, the second formatted sensor data may be transmitted to the MDT. Alternatively, the second formatted sensor data may be transmitted to a second remote server, for example, via wireless communication.

Accordingly, the present disclosure provides, among other things, an event auditing system including a base station, a UAV, and a tether extending between the base station and the UAV. Various features and advantages of the disclosure are set forth in the following claims.

Claims

1. A method of event auditing, comprising:

receiving sensor data from at least one sensor of an unmanned aerial vehicle "UAV" at a base station mounted to an anchor vehicle, the UAV being communicatively coupled with the base station via a tether to receive sensor data;

transmitting power to the UAV via the tether;

formatting at least a portion of the sensor data to generate first formatted sensor data based at least in part on an identity of a first external evidence store;

communicatively coupling the base station with the first external evidence base; a kind of electronic device with high-pressure air-conditioning system

Transmitting the first formatted sensor data from the base station to the first external evidence library.

2. The method as recited in claim 1, further comprising:

receiving, at the base station, a request to transition the UAV between a docked configuration and an over-the-air configuration; a kind of electronic device with high-pressure air-conditioning system

Control signals are transmitted that transition the UAV between the docked configuration and the airborne configuration.

3. The method of claim 2, wherein the request is received from a portable electronic device.

4. The method of claim 2, wherein the base station is coupled to a controller of the anchor vehicle, and wherein the request includes data indicative of an operational state of the anchor vehicle.

5. The method as recited in claim 1, further comprising:

communicatively coupling the base station with a dedicated emergency channel; a kind of electronic device with high-pressure air-conditioning system

At least a second portion of the sensor data is transmitted in real-time via the dedicated emergency channel.

6. The method of claim 1, wherein the formatting includes encrypting the portion of the sensor data.

7. The method of claim 1, wherein the formatting includes selectively including metadata.

8. The method of claim 1, wherein the formatting includes formatting the portion of the sensor data to meet one or more evidence continuity standards.

9. The method of claim 8, wherein the first external evidence store comprises a remote server, and wherein the communicatively coupling comprises coupling via wireless communication.

10. The method of claim 9, wherein the base station is communicatively coupled to a mobile data terminal "MDT" of the anchor vehicle, and wherein the MDT is communicatively coupled to the remote server via wireless communication.

11. The method of claim 10, wherein a second external evidence library comprises a storage medium of the MDT, and the method further comprises:

formatting the portion of the sensor data to produce second formatted sensor data; a kind of electronic device with high-pressure air-conditioning system

Transmitting the second formatted sensor data to the second external evidence library.

12. One or more non-transitory computer-readable media having computer-executable instructions recorded thereon configured to cause a computer processor to perform operations comprising:

transmitting power to the UAV via the tether;

formatting a second portion of the sensor data to generate first formatted sensor data based at least in part on an identity of a first external evidence library;

13. The one or more non-transitory computer-readable media of claim 12, wherein the operations further comprise:

Converting the UAV from the docked configuration to the airborne configuration.

14. The one or more non-transitory computer-readable media of claim 13, wherein the request is received from a portable electronic device.

15. The one or more non-transitory computer-readable media of claim 13,

wherein the base station is coupled to a controller of the anchor vehicle, and

wherein the request includes data indicative of an operational state of the anchor vehicle.

16. The one or more non-transitory computer-readable media of claim 13, wherein the operations further comprise:

17. The one or more non-transitory computer-readable media of claim 12, wherein the formatting includes encrypting the second portion of the sensor data.

18. The one or more non-transitory computer-readable media of claim 12, wherein the formatting includes selectively including metadata.

19. The one or more non-transitory computer-readable media of claim 12, wherein the formatting includes formatting the second portion of the sensor data to meet one or more evidence continuity standards.

20. The one or more non-transitory computer-readable media of claim 19,

wherein the first external evidence store comprises a remote server, and

wherein the communicatively coupling includes coupling via wireless communication.

21. The one or more non-transitory computer-readable media of claim 20,

wherein the base station is communicatively coupled to a mobile data terminal "MDT" and

wherein the MDT is communicatively coupled to the remote server via wireless communication.

22. The one or more non-transitory computer-readable media of claim 21, wherein a second external evidence library comprises a storage medium of the MDT, and the operations further comprise:

formatting the second portion of the sensor data to produce second formatted sensor data; a kind of electronic device with high-pressure air-conditioning system

23. An event auditing system, comprising:

a base station mounted to the anchor vehicle, the base station including a controller communicatively coupled with a first external evidence library; a kind of electronic device with high-pressure air-conditioning system

An unmanned aerial vehicle "UAV," coupled to the base station via a tether,

wherein the controller is configured to

Sensor data is received from at least one sensor of the UAV via the tether,

transmitting power to the UAV via the tether,

formatting a portion of the sensor data to generate formatted sensor data based at least in part on an identity of the first external evidence store, and

transmitting the formatted sensor data to the first external evidence store.